The method for controlling a vehicle comprises a step (E100) of implementing a first operating mode of the vehicle, for which the vehicle operates at least partially, the first operating mode being associated with an operating state of the vehicle allowing said implementation of the first operating mode. This control method comprises: a step (E101) of periodically monitoring the completion of an event during the step (E100) of implementing the first operating mode for detecting the event; a step (E102) of modifying the operating state, triggered by the detection of the event, for authorizing the activation of a second operating mode of the vehicle associated with the modified operating state; a step (E103) of activating the second operating mode of the vehicle authorized by the modified operating state.